CN106585306A - Integrated drive-by-wire independent steering system based on double wishbone suspension - Google Patents
Integrated drive-by-wire independent steering system based on double wishbone suspension Download PDFInfo
- Publication number
- CN106585306A CN106585306A CN201610979893.8A CN201610979893A CN106585306A CN 106585306 A CN106585306 A CN 106585306A CN 201610979893 A CN201610979893 A CN 201610979893A CN 106585306 A CN106585306 A CN 106585306A
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- Prior art keywords
- steering
- top link
- motor
- suspension
- steering system
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
- B60T1/062—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels acting on transmission parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/18—Steering knuckles; King pins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/20—Links, e.g. track rods
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Vehicle Body Suspensions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention provides an integrated drive-by-wire independent steering system based on a double wishbone suspension. The integrated drive-by-wire independent steering system based on the double wishbone suspension comprises a servo motor assembly, a motor bracket, an upper swinging arm, a lower swinging arm, a spherical hinge, a steering knuckle, a brake disc and a hub bearing assembly, wherein the servo motor is used as a steering power source. The invention is advantaged in that the integration of the suspension and the steering system is realized through combining advantages of the double wishbone independent suspension and the drive-by-wire steering system; a steering linkage system of the traditional steering system is eliminated, interference between the steering linkage system and a suspension guiding linkage system is completely avoided, the steering angle is close to plus or minus 90 degrees through reasonable layout, and zero steering radius in-situ steering is realized in the whole vehicle; as the steering servo motor assembly is placed on a wheel side and a transmission chain for steering motion is short, the steering response is sensitive and the efficiency is high; as the motor and a master pin are integrated, wheel rotation and hop do not interfere with each other and the toe-in interference of the steering transmission chain during the wheel hop is prevented; and the types of key parts are greatly reduced and the mass manufacturing cost is reduced.
Description
Technical field
The present invention relates to a kind of integrated line traffic control independent steering system based on double wishbone suspension, and in particular to one kind is turned to
Motor is arranged in the line traffic control independent steering system on double wishbone suspension knuckle, belongs to electric vehicle engineering field.
Background technology
The go to action of pilot control steering wheel is passed to steered wheel by conventional steering system by steering mechanism, while
Tie rod linkage functional relation certain between inside and outside wheel corner when ensureing to turn to, due to the presence of steering trapezium, will necessarily
Cause to produce the interference of suspension guide mechanism and steering gear connection in wheel bob, to automobile ride and operation stabilization
Property brings detrimental effect, cannot also realize the steering of wide-angle.Existing independent steering system is often using candle type suspension etc.
Simple suspension form, such as patent of invention CN102431586A adopts candle type suspension, stub axle and sleeve both can pass by spline
Dynamic to be slid axially again with transmitting torque, with the abrasion slided between interior external splines, the gap between spline constantly increases,
The error of spline fitted can affect the corner for being delivered to wheel, therefore the processing to spline and material just propose higher wanting
Ask, increased processing cost.Suspension system is in parallel with steering, although simple for structure, but is difficult to preferable suspension fortune
Dynamic performance.
And line traffic control independent steering system control wire harness replaces original mechanical connection between steering wheel and steered wheel, by
The divertical motion of the independently controlled interior foreign steamer of respective control signal.There is no wheel steering angle in the case that frame for movement is interfered
Positive and negative 90 ° can be reached, allows vehicle to realize various steerings and motor pattern such as four-wheel steering, pivot stud, crab row, diagonal
Deng mobility when improve handling stability of the vehicle when running at high speed and running at a low speed.
The content of the invention
To solve the problems, such as the Suspension movement performance technologies that above-mentioned existing suspension system is present, the present invention provides a kind of based on double
The integrated line traffic control independent steering system of transverse arm suspension, including servomotor assembly, electric machine support, top link, lower swing arm, ball
Hinge, knuckle, brake disc and hub bearing assembly；
Originated as steering power using servomotor, housing and the electric machine support of servomotor are connected, and push away in electric machine support
Power bearing, its axis and servomotor assembly output shaft are conllinear, and electric machine support is connected with bearing outer ring, motor output shaft with turn to
Bonded transmitting torque is saved, by this driving-chain motor knuckle can be driven to rotate around motor output shaft line, motor output shaft line
By knuckle and the center line of lower swing arm ball pivot；
The top link include top link A and top link B, top link A and top link B by rotate parafacies connect, electric machine support and
Top link A is connected by rotating parafacies, and top link A is rotated around main pin axis with Motor drive knuckle and constituted orthogonal three
The rotational freedom in individual direction.Top link B and lower swing arm inner side are connected respectively by rotating pair with vehicle frame, and brake disc is connected in
Rotate on wheel hub and with wheel.
Preferably, the servomotor assembly includes steer motor and decelerator, and decelerator can be adopted with auto-lock function.
Preferably, the decelerator can using worm type of reduction gearing or bevel gear to, fixed axis gear to, planet circular system.
Preferably, on the basis of traditional double transverse arm suspension frame structure, ball pivot on the outside of the top link of original structure is split as into phase
The rotation pair in mutual three vertical directions, specifically motor output shaft direct drive stub are rotated, and electric machine support leads to top link A
Cross rotation parafacies company, top link A and top link B connect by rotating parafacies, with realize the rotation in three directions of Spherical Joint Motion pair from
By spending.
System includes single-chip microcomputer and CAN system and wheel steering angle sensor, and wheel steering angle sensor can detect car
Take turns corner to realize the closed-loop control of system, deflecting roller actual rotational angle can well follow target rotation angle to be input into, so as to accurate
Turn to.
The servomotor assembly is that steer motor and worm type of reduction gearing are constituted or by steer motor and other types
Gear is constituted, such as bevel gear to, fixed axis gear to, planet circular system.
Of the invention the characteristics of is with advantage：
（1）The advantage of double cross arm independent suspension and wire-controlled steering system is combined, the integration of suspension and steering is realized,
Integrated level is high.
（2）The steering gear connection of conventional steering system is eliminated, steering gear connection is thoroughly avoided and suspension is oriented between leverage
Interference, and by reasonable Arrangement steering angle can be made be close to positive and negative 90 degree, car load can realize zero turning radius pirouette
To.
（3）Turn to servomotor assembly and be arranged in wheel side, the driving-chain of divertical motion is short, and steering response is more sensitive, effect
Rate is higher.
（4）Motor and stub are integrated, and vehicle wheel rotation and bounce are non-interference, prevent from being turned to before driving-chain during wheel hop
Beam interferometer.
（5）Car of turning direction is applied to, is easy to make front and back wheel using identical independent suspension-deflecting roller modularization knot
Structure, so as to key components and parts species is greatly reduced, reduces mass manufacturing cost.
Description of the drawings
Fig. 1 is the mechanism principle figure of the present invention.
Fig. 2 is present system structural representation.
Description of reference numerals：
A vehicle frames B rotates secondary C and rotates secondary D rotation secondary E bearing F motor G ball pivot H lower swing arms I rotation pairs
1- servomotor assemblies；2- electric machine supports；3- top link A；4- top link B；5- lower swing arms；6- ball pivots；7- is turned to
Section；8- brake discs；9- hub bearing assemblies.
Specific embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Speciality and/or step beyond, can combine by any way, unless specifically stated otherwise, can be equivalent or with class by other
Replaced like the alternative features of purpose, i.e., unless specifically stated otherwise, in a series of equivalent or similar characteristics of each feature
Individual embodiment.
A kind of integrated line traffic control independent steering system based on double wishbone suspension, including servomotor assembly 1, electric machine support
2nd, top link, lower swing arm 5, ball pivot 6, knuckle 7, brake disc 8 and hub bearing assembly 9,
Originated as steering power using servomotor 1, housing and the electric machine support 2 of servomotor 1 are connected, in electric machine support 2
There is thrust bearing, its axis is conllinear with the output shaft of servomotor assembly 1, electric machine support 2 is connected with bearing outer ring, motor output shaft
With the bonded transmitting torque of knuckle 7, by this driving-chain motor knuckle 7 can be driven to rotate around motor output shaft line, motor
Output axis passes through the center line of knuckle 7 and the ball pivot 8 of lower swing arm 5,
The top link includes that top link A 3 and top link B 4, top link A3 and top link B4 connect by rotating parafacies, motor
Support 2 is connected with top link A 3 by rotation parafacies, and top link A3 is rotated around main pin axis with Motor drive knuckle and constituted mutually
The rotational freedom in three vertical directions, top link B 4 and the inner side of lower swing arm 5 are connected respectively by rotating pair with vehicle frame, are made
Moving plate 8 is connected on wheel hub 9 and with wheel and rotates.
Preferably, the servomotor assembly 1 includes steer motor and has to change power direction or as servo electricity
The transmission mechanism of the decelerator of machine.
On the basis of traditional McPherson suspension structure, ball pivot on the outside of the top link of original structure is split as orthogonal
The rotation pair in three directions, specifically motor output shaft direct drive stub is rotated, and electric machine support 2 is with top link A3 by rotating
Parafacies connects, and top link A 3 and top link B 4 is connected by rotating parafacies, to realize the rotatably mounted of secondary three directions of Spherical Joint Motion
Degree.
As shown in Figure 1, it is 2 by calculating the free degree for obtaining the suspension, one is rotation along main pin axis, i.e. wheel
Turn to；Another is the bob of the bob of suspension guide mechanism, i.e. wheel.
2 it is described further below in conjunction with the accompanying drawings.
A kind of integrated line traffic control independent steering system based on double wishbone suspension of the present invention mainly includes servomotor assembly
1, electric machine support 2, top link A 3, top link B 4, lower swing arm 5, ball pivot 6, knuckle 7, brake disc 8 and hub bearing assembly 9.
Originated as steering power using servomotor 1, housing and the electric machine support 2 of servomotor 1 are connected, electric machine support
Have thrust bearing in 2, its axis is conllinear with motor assembly output shaft, electric machine casing 2 is connected with bearing outer ring, motor output shaft with
Knuckle 7 can drive knuckle to rotate around motor output shaft line by form transmitting torques such as keys by this driving-chain motor.Electricity
Machine output axis is bearing axis, and must pass through the center line of knuckle 7 and lower swing arm ball pivot 6, i.e. main pin axis.Electric machine support
2 are connected with top link A 3 by rotating parafacies, and top link A 3 and top link B 4 is connected by rotating parafacies, is turned to Motor drive
Save and the rotational freedom for constituting orthogonal three directions is rotated around main pin axis.Top link B 4 and the inner side of lower swing arm 5 are respectively
It is connected with vehicle frame by rotating pair.Brake disc 8 is connected on wheel hub 9 and with wheel and rotates.
The program splits principle, by the upper pendulum of original structure on the basis of traditional double transverse arm suspension frame structure with kinematic pair
Ball pivot is split as the rotation pair in orthogonal three directions on the outside of arm, to realize the rotatably mounted of secondary three directions of Spherical Joint Motion
Degree.It is not difficult theoretically to prove, the fractionation of kinematic pair does not affect mechanism freedom, therefore the suspension free degree is hanged with traditional double transverse arm
The frame free degree is consistent, and organization plan can meet use requirement.
The servomotor assembly is that steer motor and worm type of reduction gearing are constituted or by steer motor and other types
Gear is constituted, such as bevel gear to, fixed axis gear to, planet circular system.
System includes single-chip microcomputer and CAN system and wheel steering angle sensor, and wheel steering angle sensor can detect car
Wheel corner is realizing the closed-loop control based on system, and the action of system is more accurate, deflecting roller actual rotational angle can well with
It is input into target rotation angle, so as to precisely turn to.
The specific embodiment of the present invention is above are only, but the design concept of the present invention is not limited thereto, it is all using this structure
Think of carries out the change of unsubstantiality to the present invention, all should belong to the behavior for invading the scope of the present invention.
Claims (4)
1. a kind of integrated line traffic control independent steering system based on double wishbone suspension, it is characterised in that including servomotor assembly
（1）, electric machine support（2）, top link, lower swing arm（5）, ball pivot（6）, knuckle (7), brake disc (8) and hub bearing assembly
(9)；
Originated as steering power using servomotor (1), housing and the electric machine support (2) of servomotor (1) are connected, motor
There is thrust bearing in frame (2), its axis and servomotor assembly（1）Output shaft is conllinear, electric machine support（2）It is solid with bearing outer ring
Even, motor output shaft and knuckle（7）Bonded transmitting torque.By this driving-chain motor knuckle can be driven to export around motor
Axis is rotated, and motor output shaft line is by knuckle 7 and the center line of lower swing arm ball pivot 6；
The top link includes top link A（3）With top link B（4）, top link A（3）With top link B（4）By rotating parafacies
Even, electric machine support（2）With top link A（3）Connected by rotating parafacies, rotate around main pin axis with Motor drive knuckle and constitute phase
The rotational freedom in mutual three vertical directions, top link B（4）And lower swing arm（5）Inner side is respectively by rotating pair and vehicle frame phase
Even, brake disc（8）It is connected in wheel hub（9）Rotate above and with wheel.
2. a kind of integrated line traffic control independent steering system based on double wishbone suspension according to claims 1, its feature
It is：The servomotor assembly（3）Including steer motor and decelerator, decelerator can be adopted with auto-lock function.
3. a kind of integrated line traffic control independent steering system based on double wishbone suspension according to claims 2, its feature
It is：The decelerator can using worm type of reduction gearing or bevel gear to, fixed axis gear to, planet circular system.
4. a kind of integrated line traffic control independent steering system based on double wishbone suspension according to claims 1, its feature
It is：On the basis of traditional double transverse arm suspension frame structure, ball pivot on the outside of the top link of original structure is split as into orthogonal three
The rotation pair in individual direction, specifically motor output shaft direct drive stub is rotated, electric machine support（2）With top link A（3）By turning
Dynamic parafacies connects, top link A（3）With top link B（4）Connected by rotating parafacies, to realize turning for secondary three directions of Spherical Joint Motion
The dynamic free degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610979893.8A CN106585306B (en) | 2016-11-08 | 2016-11-08 | A kind of integrated line traffic control independent steering system based on double wishbone suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610979893.8A CN106585306B (en) | 2016-11-08 | 2016-11-08 | A kind of integrated line traffic control independent steering system based on double wishbone suspension |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106585306A true CN106585306A (en) | 2017-04-26 |
| CN106585306B CN106585306B (en) | 2019-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610979893.8A Active CN106585306B (en) | 2016-11-08 | 2016-11-08 | A kind of integrated line traffic control independent steering system based on double wishbone suspension |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719099A (en) * | 2017-09-05 | 2018-02-23 | 杭州伯坦科技工程有限公司 | Four wheels of electric automobile independently drives independent steering actuating mechanism and performs method |
| CN108081886A (en) * | 2017-11-30 | 2018-05-29 | 燕山大学 | A kind of wheel side of comprehensive steering turns to suspension fork mechanism |
| CN108312839A (en) * | 2018-03-14 | 2018-07-24 | 吉林大学 | A kind of double transverse arm front suspension systems applied to internal rotor In-wheel motor driving |
| CN108482044A (en) * | 2018-03-15 | 2018-09-04 | 深圳市欧科力科技有限公司 | A kind of swing arm suspension with torque limiter |
| CN108909830A (en) * | 2018-09-05 | 2018-11-30 | 中信戴卡股份有限公司 | A kind of auto steerer and automobile |
| CN108995711A (en) * | 2018-07-09 | 2018-12-14 | 北京理工大学 | A kind of all-wheel steering motorized vehicle chassis independently driven |
| CN109878280A (en) * | 2019-04-19 | 2019-06-14 | 吉林大学 | A kind of amphibious electric car wheel position conversion device and its control method |
| CN110329023A (en) * | 2019-08-12 | 2019-10-15 | 西南交通大学 | A kind of hub motor double cross arm independent suspension |
| CN110525152A (en) * | 2019-10-18 | 2019-12-03 | 吉林大学 | A kind of distributed-driving electric automobile wheel side integrated system |
| CN110861456A (en) * | 2019-11-08 | 2020-03-06 | 吉林大学 | Lower cross arm connecting structure and steering structure for steer-by-wire vehicle and control method of lower cross arm connecting structure and steering structure |
| CN111169241A (en) * | 2020-03-03 | 2020-05-19 | 长沙猎空智能科技有限公司 | Trolley chassis with wheels driven independently |
| CN111559426A (en) * | 2020-04-26 | 2020-08-21 | 东风汽车集团有限公司 | Double-fork-arm suspension structure capable of steering in all directions based on hub motor |
| CN113815722A (en) * | 2021-11-11 | 2021-12-21 | 吉林大学 | Double-motor steering mechanism and redundancy control method thereof |
| CN115519953A (en) * | 2022-10-20 | 2022-12-27 | 北理华创(佛山)新能源汽车科技有限公司 | Integrated steering suspension driving system for drive-by-wire chassis and vehicle |
| CN116238276A (en) * | 2023-03-15 | 2023-06-09 | 艾德斯汽车电机无锡有限公司 | Swing arm assembly arrangement structure of automobile with hub motor |
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| CN101638052A (en) * | 2009-08-21 | 2010-02-03 | 山东大学 | Wheel assembly with integration of independent driving, steering, suspending and braking |
| CN201670260U (en) * | 2010-05-07 | 2010-12-15 | 深圳职业技术学院 | Independent steering device and independent suspension system |
| CN102431586A (en) * | 2011-10-24 | 2012-05-02 | 上海航天汽车机电股份有限公司 | Integrated steering and suspension system |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719099A (en) * | 2017-09-05 | 2018-02-23 | 杭州伯坦科技工程有限公司 | Four wheels of electric automobile independently drives independent steering actuating mechanism and performs method |
| CN108081886A (en) * | 2017-11-30 | 2018-05-29 | 燕山大学 | A kind of wheel side of comprehensive steering turns to suspension fork mechanism |
| CN108312839A (en) * | 2018-03-14 | 2018-07-24 | 吉林大学 | A kind of double transverse arm front suspension systems applied to internal rotor In-wheel motor driving |
| CN108312839B (en) * | 2018-03-14 | 2024-05-28 | 吉林大学 | Double-cross arm front suspension system applied to inner rotor hub motor driving |
| CN108482044A (en) * | 2018-03-15 | 2018-09-04 | 深圳市欧科力科技有限公司 | A kind of swing arm suspension with torque limiter |
| CN108482044B (en) * | 2018-03-15 | 2020-11-17 | 朱少池 | Swing arm type suspension with torque limiter |
| CN108995711A (en) * | 2018-07-09 | 2018-12-14 | 北京理工大学 | A kind of all-wheel steering motorized vehicle chassis independently driven |
| CN108909830A (en) * | 2018-09-05 | 2018-11-30 | 中信戴卡股份有限公司 | A kind of auto steerer and automobile |
| CN109878280A (en) * | 2019-04-19 | 2019-06-14 | 吉林大学 | A kind of amphibious electric car wheel position conversion device and its control method |
| CN109878280B (en) * | 2019-04-19 | 2024-03-29 | 吉林大学 | Amphibious electric vehicle wheel position conversion device and control method thereof |
| CN110329023A (en) * | 2019-08-12 | 2019-10-15 | 西南交通大学 | A kind of hub motor double cross arm independent suspension |
| CN110525152A (en) * | 2019-10-18 | 2019-12-03 | 吉林大学 | A kind of distributed-driving electric automobile wheel side integrated system |
| CN110861456A (en) * | 2019-11-08 | 2020-03-06 | 吉林大学 | Lower cross arm connecting structure and steering structure for steer-by-wire vehicle and control method of lower cross arm connecting structure and steering structure |
| CN110861456B (en) * | 2019-11-08 | 2023-09-08 | 吉林大学 | Lower cross arm connecting structure and steering structure for steer-by-wire vehicle and control method thereof |
| CN111169241A (en) * | 2020-03-03 | 2020-05-19 | 长沙猎空智能科技有限公司 | Trolley chassis with wheels driven independently |
| CN111169241B (en) * | 2020-03-03 | 2023-09-19 | 湖南天开智能装备有限公司 | Trolley chassis with wheels independently driven |
| CN111559426A (en) * | 2020-04-26 | 2020-08-21 | 东风汽车集团有限公司 | Double-fork-arm suspension structure capable of steering in all directions based on hub motor |
| CN113815722A (en) * | 2021-11-11 | 2021-12-21 | 吉林大学 | Double-motor steering mechanism and redundancy control method thereof |
| CN115519953B (en) * | 2022-10-20 | 2023-04-18 | 北理华创(佛山)新能源汽车科技有限公司 | Integrated steering suspension driving system for drive-by-wire chassis and vehicle |
| CN115519953A (en) * | 2022-10-20 | 2022-12-27 | 北理华创(佛山)新能源汽车科技有限公司 | Integrated steering suspension driving system for drive-by-wire chassis and vehicle |
| CN116238276A (en) * | 2023-03-15 | 2023-06-09 | 艾德斯汽车电机无锡有限公司 | Swing arm assembly arrangement structure of automobile with hub motor |
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|---|---|
| CN106585306B (en) | 2019-01-25 |
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